Omron R88D-KTA5L User Manual page 417

Parameters Requiring Settings
Parameter
Parameter name
number
Pn610 Function Expansion Setting
Disturbance Torque
Pn623
Compensation Gain
Disturbance Observer Filter
Pn624
Setting
Operating Procedure
1. Set the Function Expansion Setting (Pn610).
Set whether to enable or disable the disturbance observer in bit 1.
0: Disabled
1: Enabled
Set the operating conditions to be enabled in bit 2.
0: Enabled at all time
1: Enabled only when gain 1 is selected
2. Set the Disturbance Observer Filter Setting (Pn624).
Set Disturbance Torque Compensation Gain (Pn623) to a small value, and then change the
value of Disturbance Observer Filter Setting (Pn624) from a large value to a small value. And
set to the set value in which the effectiveness of suppressing the impact of disturbance and the
operating noise level are balanced.
3. Set the Disturbance Torque Compensation Gain (Pn623).
Change the value of Disturbance Torque Compensation Gain (Pn623) from a small value to a
large value. And set to the set value in which the effectiveness of suppressing the impact of
disturbance and the operating noise level are balanced.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-11 Disturbance Observer Function
Explanation
Set the bits related to the disturbance observer.
Set the compensation gain for the disturbance
torque.
Set the filter time constant for disturbance torque
compensation.
Reference
P.8-60
P.8-63
P.8-63
6-45
6